/*
 * Copyright (c) 2014-2017, the neonavigation authors
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the copyright holder nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#ifndef PLANNER_CSPACE_RESERVABLE_PRIORITY_QUEUE_H
#define PLANNER_CSPACE_RESERVABLE_PRIORITY_QUEUE_H

#include <queue>

namespace planner_cspace
{
template <class T>
class reservable_priority_queue : public std::priority_queue<T>
{
public:
  typedef typename std::priority_queue<T>::size_type size_type;
  explicit reservable_priority_queue(const size_type capacity = 0)
  {
    reserve(capacity);
  }
  void reserve(const size_type capacity)
  {
    this->c.reserve(capacity);
  }
  size_type capacity() const
  {
    return this->c.capacity();
  }
  void clear()
  {
    this->c.clear();
  }
  void pop_back()
  {
    this->c.pop_back();
  }
};
}  // namespace planner_cspace

#endif  // PLANNER_CSPACE_RESERVABLE_PRIORITY_QUEUE_H
